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  <div class="headertitle"><div class="title">QuaternionEKF.h</div></div>
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<a href="_quaternion_e_k_f_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#ifndef _QUAT_EKF_H</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#define _QUAT_EKF_H</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &quot;kalman_filter.h&quot;</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="comment">/* boolean type definitions */</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#ifndef TRUE</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="_quaternion_e_k_f_8h.html#aa8cecfc5c5c054d2875c03e77b7be15d">   19</a></span><span class="preprocessor">#define TRUE 1 </span><span class="preprocessor"></span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="preprocessor">#ifndef FALSE</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="_quaternion_e_k_f_8h.html#aa93f0eb578d23995850d61f7d61c55c1">   23</a></span><span class="preprocessor">#define FALSE 0 </span><span class="preprocessor"></span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
<div class="foldopen" id="foldopen00026" data-start="{" data-end="};">
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="struct_q_e_k_f___i_n_s__t.html">   26</a></span><span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>{</div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    uint8_t Initialized;</div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    KalmanFilter_t IMU_QuaternionEKF;</div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    uint8_t ConvergeFlag;</div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    uint8_t StableFlag;</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    uint64_t ErrorCount;</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    uint64_t UpdateCount;</div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <span class="keywordtype">float</span> q[4];        <span class="comment">// 四元数估计值</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <span class="keywordtype">float</span> GyroBias[3]; <span class="comment">// 陀螺仪零偏估计值</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <span class="keywordtype">float</span> Gyro[3];</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <span class="keywordtype">float</span> Accel[3];</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    <span class="keywordtype">float</span> OrientationCosine[3];</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="keywordtype">float</span> accLPFcoef;</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="keywordtype">float</span> gyro_norm;</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    <span class="keywordtype">float</span> accl_norm;</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    <span class="keywordtype">float</span> AdaptiveGainScale;</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keywordtype">float</span> Roll;</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    <span class="keywordtype">float</span> Pitch;</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    <span class="keywordtype">float</span> Yaw;</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <span class="keywordtype">float</span> YawTotalAngle;</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    <span class="keywordtype">float</span> Q1; <span class="comment">// 四元数更新过程噪声</span></div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <span class="keywordtype">float</span> Q2; <span class="comment">// 陀螺仪零偏过程噪声</span></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="keywordtype">float</span> R;  <span class="comment">// 加速度计量测噪声</span></div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keywordtype">float</span> dt; <span class="comment">// 姿态更新周期</span></div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    mat ChiSquare;</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <span class="keywordtype">float</span> ChiSquare_Data[1];      <span class="comment">// 卡方检验检测函数</span></div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="keywordtype">float</span> ChiSquareTestThreshold; <span class="comment">// 卡方检验阈值</span></div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="keywordtype">float</span> lambda;                 <span class="comment">// 渐消因子</span></div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    int16_t YawRoundCount;</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="keywordtype">float</span> YawAngleLast;</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>} <a class="code hl_struct" href="struct_q_e_k_f___i_n_s__t.html">QEKF_INS_t</a>;</div>
</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span><span class="keyword">extern</span> <a class="code hl_struct" href="struct_q_e_k_f___i_n_s__t.html">QEKF_INS_t</a> QEKF_INS;</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span><span class="keyword">extern</span> <span class="keywordtype">float</span> chiSquare;</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span><span class="keyword">extern</span> <span class="keywordtype">float</span> ChiSquareTestThreshold;</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span><span class="keywordtype">void</span> <a class="code hl_function" href="_quaternion_e_k_f_8h.html#a43fed4fb5cef743a036ceb866de43628">IMU_QuaternionEKF_Init</a>(<span class="keywordtype">float</span>* init_quaternion,<span class="keywordtype">float</span> process_noise1, <span class="keywordtype">float</span> process_noise2, <span class="keywordtype">float</span> measure_noise, <span class="keywordtype">float</span> lambda, <span class="keywordtype">float</span> lpf);</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span><span class="keywordtype">void</span> <a class="code hl_function" href="_quaternion_e_k_f_8h.html#aae827fb4d03a3d115e6ad61501dda590">IMU_QuaternionEKF_Update</a>(<span class="keywordtype">float</span> gx, <span class="keywordtype">float</span> gy, <span class="keywordtype">float</span> gz, <span class="keywordtype">float</span> ax, <span class="keywordtype">float</span> ay, <span class="keywordtype">float</span> az, <span class="keywordtype">float</span> dt);</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span><span class="preprocessor">#endif</span></div>
<div class="ttc" id="a_quaternion_e_k_f_8h_html_a43fed4fb5cef743a036ceb866de43628"><div class="ttname"><a href="_quaternion_e_k_f_8h.html#a43fed4fb5cef743a036ceb866de43628">IMU_QuaternionEKF_Init</a></div><div class="ttdeci">void IMU_QuaternionEKF_Init(float *init_quaternion, float process_noise1, float process_noise2, float measure_noise, float lambda, float lpf)</div><div class="ttdoc">Quaternion EKF initialization and some reference value.</div><div class="ttdef"><b>Definition</b> QuaternionEKF.c:50</div></div>
<div class="ttc" id="a_quaternion_e_k_f_8h_html_aae827fb4d03a3d115e6ad61501dda590"><div class="ttname"><a href="_quaternion_e_k_f_8h.html#aae827fb4d03a3d115e6ad61501dda590">IMU_QuaternionEKF_Update</a></div><div class="ttdeci">void IMU_QuaternionEKF_Update(float gx, float gy, float gz, float ax, float ay, float az, float dt)</div><div class="ttdoc">Quaternion EKF update.</div><div class="ttdef"><b>Definition</b> QuaternionEKF.c:97</div></div>
<div class="ttc" id="astruct_q_e_k_f___i_n_s__t_html"><div class="ttname"><a href="struct_q_e_k_f___i_n_s__t.html">QEKF_INS_t</a></div><div class="ttdef"><b>Definition</b> QuaternionEKF.h:27</div></div>
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